Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(rviz_plugin): fix screen capture plugin #1492

Merged
merged 1 commit into from
Aug 2, 2022
Merged

fix(rviz_plugin): fix screen capture plugin #1492

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 8 additions & 22 deletions common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@ AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent)
connect(screen_capture_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickScreenCapture()));
cap_layout->addWidget(screen_capture_button_ptr_);
cap_layout->addWidget(ros_time_label_);
// initialize file name system clock is better for identification.
setFormatDate(ros_time_label_, rclcpp::Clock().now().seconds());
cap_layout->addWidget(new QLabel(" [.mp4] "));
}

Expand Down Expand Up @@ -104,13 +106,6 @@ void AutowareScreenCapturePanel::onClickScreenCapture()
return;
}

void AutowareScreenCapturePanel::convertPNGImagesToMP4()
{
writer.release();
// remove temporary created folder
std::filesystem::remove_all(root_folder_);
}

void AutowareScreenCapturePanel::onClickVideoCapture()
{
const int clock = static_cast<int>(1e3 / capture_hz_->value());
Expand All @@ -130,9 +125,7 @@ void AutowareScreenCapturePanel::onClickVideoCapture()
case State::WAITING_FOR_CAPTURE:
// initialize setting
{
counter_ = 0;
root_folder_ = ros_time_label_->text().toStdString();
std::filesystem::create_directory(root_folder_);
capture_file_name_ = ros_time_label_->text().toStdString();
}
capture_to_mp4_button_ptr_->setText("capturing rviz screen");
capture_to_mp4_button_ptr_->setStyleSheet("background-color: #FF0000;");
Expand All @@ -146,17 +139,14 @@ void AutowareScreenCapturePanel::onClickVideoCapture()
.size();
current_movie_size = cv::Size(qsize.width(), qsize.height());
writer.open(
"capture/" + root_folder_ + ".mp4", fourcc, capture_hz_->value(), current_movie_size);
"capture/" + capture_file_name_ + ".mp4", fourcc, capture_hz_->value(),
current_movie_size);
}
capture_timer_->start(clock);
state_ = State::CAPTURING;
break;
case State::CAPTURING: {
case State::CAPTURING:
capture_timer_->stop();
}
capture_to_mp4_button_ptr_->setText("writing to video");
capture_to_mp4_button_ptr_->setStyleSheet("background-color: #FFFF00;");
convertPNGImagesToMP4();
capture_to_mp4_button_ptr_->setText("waiting for capture");
capture_to_mp4_button_ptr_->setStyleSheet("background-color: #00FF00;");
state_ = State::WAITING_FOR_CAPTURE;
Expand All @@ -181,7 +171,6 @@ void AutowareScreenCapturePanel::onTimer()
cv::Mat new_image;
cv::resize(image, new_image, current_movie_size);
writer.write(new_image);

} else {
writer.write(image);
}
Expand All @@ -190,17 +179,14 @@ void AutowareScreenCapturePanel::onTimer()

void AutowareScreenCapturePanel::update()
{
setFormatDate(ros_time_label_, raw_node_->get_clock()->now().seconds());
setFormatDate(ros_time_label_, rclcpp::Clock().now().seconds());
}

void AutowareScreenCapturePanel::save(rviz_common::Config config) const { Panel::save(config); }

void AutowareScreenCapturePanel::load(const rviz_common::Config & config) { Panel::load(config); }

AutowareScreenCapturePanel::~AutowareScreenCapturePanel()
{
std::filesystem::remove_all(root_folder_);
}
AutowareScreenCapturePanel::~AutowareScreenCapturePanel() = default;

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(AutowareScreenCapturePanel, rviz_common::Panel)
5 changes: 1 addition & 4 deletions common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,6 @@ class AutowareScreenCapturePanel : public rviz_common::Panel
void onInitialize() override;
void createWallTimer();
void onTimer();
void convertPNGImagesToMP4();
void save(rviz_common::Config config) const override;
void load(const rviz_common::Config & config) override;
void onCaptureTrigger(
Expand All @@ -67,7 +66,6 @@ class AutowareScreenCapturePanel : public rviz_common::Panel

public Q_SLOTS:
void onClickScreenCapture();
void onClickCaptureToVideo();
void onClickVideoCapture();
void onRateChanged();

Expand All @@ -80,8 +78,7 @@ public Q_SLOTS:
QMainWindow * main_window_;
enum class State { WAITING_FOR_CAPTURE, CAPTURING };
State state_;
std::string root_folder_;
size_t counter_;
std::string capture_file_name_;
bool is_capture_;
cv::VideoWriter writer;
cv::Size current_movie_size;
Expand Down